Rotation: hold the left mouse button and move the mouse to rotate around the x and y axes; to rotate around the z axis, press the [alt] key in addition
Translation: press the [alt] + [ctrl] (or [alt] + [cmd]) keys while moving the mouse
Zooming: press the [shift] key and move the mouse vertically or employ the mouse wheel

Note: to view this 3D-animation, a java runtime environment must be installed
(→ download from www.java.com)